Table 7.

Comparative summary of the time to solution of each algorithm under the condition of large scale and small scale perturbations for both phantom and clinical datasets. The reported solution times were averaged over the successful registration runs for each trial and reported both as mean total time as well as mean time per iteration for each algorithm.

	Small scale trials		Large scale trials
Registration method	Phantom (sec∕sec∕itr)	Clinical (sec∕sec∕itr)	Phantom (sec∕sec∕itr)	Clinical (sec∕sec∕itr)
ICP	60.77∕0.24	70.73∕0.37	59.06∕0.24	92.047∕0.37
PICP	76.77∕0.34	88.99∕0.54	108.09∕0.38	141.87∕0.62
PICP2	43.60∕0.36	52.70∕0.51	52.08∕0.38	54.77∕0.54